Integrated manipulator device and manipulator system

Abstract

The utility model belongs to the field of solar cell production and manufacturing, and particularly provides an integrated mechanical arm device and a mechanical arm system.The integrated mechanical arm device comprises a stand column, a cross arm and a driving mechanism; the cross arm is arranged on the stand column in a sliding mode. The driving mechanism is fixedly arranged on the stand column and is suitable for driving the cross arm to slide on the stand column; the stand column comprises a column body and reinforcing ribs. The reinforcing ribs and the column body are integrally formed. The stand column further comprises a hanging plate. The hanging plate and the column body are integrally formed. The stand columns are integrally designed and formed through direct mold opening or injection molding, the overall strength is improved, and the requirement for high strength of the mechanical arm of large productivity is met. And by adopting the integrated design, the manual assembly time can be shortened, the manipulator production and manufacturing time is shortened, the labor cost is reduced, and cost reduction and efficiency improvement are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of solar cell production and manufacturing, and in particular to an integrated manipulator device and a manipulator system. Background Art

[0002] In the process of solar cell manufacturing, silicon wafers need to go through processes such as cleaning, diffusion, annealing, coating, and screen printing. In the cleaning process, tank cleaning equipment is usually used. The silicon wafers are placed in a wafer box, and the wafer box is driven by a robot to clean in each process tank. As the equipment capacity continues to increase, the number of wafer boxes and silicon wafers driven by the robot is also increasing. Especially after working at a high frequency, the robot will deform, affecting production efficiency and increasing safety risks. In addition, it takes a lot of manual assembly time to manufacture robot cleaning equipment that can be used for tank cleaning equipment, which increases costs and is not conducive to the construction of super factories.

[0003] How to reduce the deformation of the robot and increase its service life is a technical problem that needs to be solved urgently. Utility Model Content

[0004] The utility model aims to provide an integrated manipulator device and a manipulator system.

[0005] In order to solve the above technical problems, the utility model provides an integrated manipulator device, comprising:

[0006] Column, cross arm and driving mechanism;

[0007] The cross arm is slidably arranged on the column;

[0008] The driving mechanism is fixedly arranged on the column and is suitable for driving the cross arm to slide on the column;

[0009] The column includes a column body and reinforcing ribs;

[0010] The reinforcing rib is integrally formed with the column body;

[0011] The column also includes a suspension plate;

[0012] The suspension plate and the column body are integrally formed.

[0013] Furthermore, the reinforcing ribs are arranged along the height direction of the column body.

[0014] Furthermore, the number of the reinforcing ribs is two;

[0015] The two reinforcing ribs are arranged opposite to each other;

[0016] The driving mechanism is arranged between the two reinforcing ribs.

[0017] Further, the column further includes a suspension plate;

[0018] The suspension plate is integrally formed with the column body.

[0019] Further, the number of the suspension plates is two;

[0020] The two suspension plates are oppositely arranged and are arranged along the side wall of the column;

[0021] A suspension station is formed between the two suspension plates;

[0022] The column is suspended on the side of an external tank through the suspension station.

[0023] Further, the cross arm includes an arm body, an upper plate and a rear plate;

[0024] The upper plate and the rear plate are respectively fixedly arranged on the top and the rear side wall of the arm body;

[0025] The arm body is integrally formed.

[0026] Further, the top surface of the arm body is rectangular.

[0027] Further, the top surface of the arm body is trapezoidal.

[0028] Further, a plurality of hanging basket hanging plates are arranged at intervals at the bottom of the arm body.

[0029] Further, the driving mechanism includes a driving motor, a lead screw and a lifting block;

[0030] The lifting block is fixedly connected with the cross arm;

[0031] The driving motor and the lead screw are both arranged on the column;

[0032] The lead screw passes through the lifting block, and when the lead screw rotates, it is adapted to drive the lifting block to lift;

[0033] The driving motor is adapted to drive the lead screw to rotate.

[0034] The present utility model further provides a manipulator system, including:

[0035] The integrated manipulator device as described above;

[0036] A control module, electrically connected to the integrated manipulator device, and sending corresponding execution instructions to the integrated manipulator device.

[0037] The beneficial effects of the present utility model are as follows. The present utility model provides an integrated manipulator device and a manipulator system. Among them, the integrated manipulator device includes: a column, a cross arm, and a driving mechanism; the cross arm is slidably arranged on the column; the driving mechanism is fixedly arranged on the column and is adapted to drive the cross arm to slide on the column; the column includes a column body and reinforcing ribs; the reinforcing ribs are integrally formed with the column body, and the column further includes a suspension plate; the suspension plate is integrally formed with the column body. The column adopts an integrated design and is directly formed by mold opening or injection molding, which improves the overall strength and meets the high-strength requirements of the manipulator for large production capacity. Moreover, the integrated design can reduce the manual assembly time, reduce the production and manufacturing time of the manipulator, reduce the labor cost, and is conducive to cost reduction and efficiency improvement. Description of the Drawings

[0038] The present utility model will be further described below with reference to the drawings and embodiments.

[0039] Figure 1 It is a schematic structural diagram of the integrated manipulator device provided in this embodiment.

[0040] Figure 2 It is a schematic structural diagram of the column provided in this embodiment.

[0041] Figure 3 It is a side view of the column provided in this embodiment.

[0042] Figure 4 It is a front view of the column provided in this embodiment.

[0043] Figure 5 It is a partial cross-sectional view of the integrated manipulator device and the external tank body provided in this embodiment.

[0044] Figure 6 It is a schematic structural diagram of the cross arm provided in this embodiment.

[0045] Figure 7 It is a top view of the cross arm provided in this embodiment.

[0046] Figure 8 It is a side view of the cross arm provided in this embodiment.

[0047] Figure 9 It is a top view of another cross arm provided in this embodiment.

[0048] Figure 10 It is a side view of another cross arm provided in this embodiment.

[0049] Figure 11 It is a schematic structural diagram of the driving mechanism provided in this embodiment.

[0050] In the figure: 100, vertical column; 110, column body; 120, reinforcing rib; 130, suspension plate; 200, cross arm; 210, upper plate; 220, rear plate; 230, hanging basket hanging plate; 240, arm body; 300, driving mechanism; 321, driving motor; 322, lead screw; 323, lifting block; 400, external tank. Detailed implementation manners

[0051] Now, the present utility model will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic manner, so they only show the components related to the present utility model.

[0052] For the embodiment, please refer to Figure 1 , at least one embodiment provides an integrated manipulator device, including: a vertical column 100, a cross arm 200 and a driving mechanism 300; the cross arm 200 is slidably arranged on the vertical column 100; the driving mechanism 300 is fixedly arranged on the vertical column 100 and is adapted to drive the cross arm 200 to slide on the vertical column 100; the vertical column 100 includes a column body 110 and a reinforcing rib 120; the reinforcing rib 120 is integrally formed with the column body 110. The vertical column 100 adopts an integrated design, which is directly molded or injection-molded, improving the overall strength and meeting the high-strength requirements of the manipulator for large production capacity. And the integrated design can reduce the manual assembly time, reduce the production and manufacturing time of the manipulator, reduce the labor cost, and is beneficial to cost reduction and efficiency improvement.

[0053] Please refer to Figures 2 - 4 , in some embodiments, the reinforcing rib 120 is arranged along the height direction of the column body 110. Since the pressure exerted by the cross arm 200 will cause the column body 110 to bend, the reinforcing rib 120 is arranged along the height direction, thereby improving the overall strength of the vertical column 100.

[0054] In a preferred embodiment, the number of the reinforcing ribs 120 is two; the two reinforcing ribs 120 are arranged oppositely; the driving mechanism 300 is arranged between the two reinforcing ribs 120.

[0055] It should be noted that the reinforcing rib 120 and the cross arm 200 are respectively on both sides of the column body 110, thereby further improving the strength of the column body 110.

[0056] Please continue to refer to Figures 2 - 4 , in at least one embodiment, the vertical column 100 further includes a suspension plate 130; the suspension plate 130 is integrally formed with the column body 110.

[0057] Among them, the number of the suspension plates 130 is two; the two suspension plates 130 are arranged oppositely and along the side wall of the column 100; a suspension station is formed between the two suspension plates 130; the column 100 is suspended on the side of the external tank body 400 through the suspension station (such as Figure 5 shown). The column 100 is slidably arranged on the slide plate of the external tank body 400 through the suspension plates 130, so as to facilitate the transfer of silicon wafers.

[0058] Please refer to Figure 6 , in at least one embodiment, the cross arm 200 includes: an arm body 230, an upper plate 210 and a rear plate 220; the upper plate 210 and the rear plate 220 are respectively fixedly arranged on the top and the rear side wall of the arm body 240; the arm body is integrally formed. The arm body 240 adopts an integrated design and is formed by mold opening or injection molding, which improves the stability of the cross arm 200.

[0059] Please refer to Figure 7 and Figure 8 , in some embodiments, the top surface of the arm body 240 is rectangular.

[0060] Please refer to Figure 9 and Figure 10 , in a preferred embodiment, the top surface of the arm body 240 is trapezoidal. The trapezoidal structure reduces the weight of the arm body 240, and the weight of the end far from the column 100 is lighter, reducing the stress applied to the column 100, thereby reducing deformation.

[0061] In order to facilitate the transportation of the wafer basket loaded with silicon wafers, in at least one embodiment, a plurality of hanging basket hanging plates 230 are spaced apart on the arm body 240.

[0062] Please refer to Figure 11 , in at least one embodiment, the driving mechanism 300 includes a driving motor 321, a lead screw 322 and a lifting block 323; the lifting block 323 is fixedly connected with the cross arm 200; the driving motor 321 and the lead screw 322 are both arranged on the column 100; the lead screw 322 passes through the lifting block 323, and when the lead screw 322 rotates, it is adapted to drive the lifting block 323 to lift; the driving motor 321 is adapted to drive the lead screw 322 to rotate.

[0063] The present utility model further provides a manipulator system, including: the integrated manipulator device as described above; a control module, electrically connected to the integrated manipulator device, and sending corresponding execution instructions to the integrated manipulator device.

[0064] In summary, the present utility model provides an integrated manipulator device and a manipulator system. The integrated manipulator device includes a column 100, a cross arm 200, and a driving mechanism 300. The cross arm 200 is slidably disposed on the column 100. The driving mechanism 300 is fixedly disposed on the column 100 and is adapted to drive the cross arm 200 to slide on the column 100. The column 100 includes a column body 110 and a reinforcing rib 120. The reinforcing rib 120 is integrally formed with the column body 110. The column further includes a hanging plate, and the hanging plate is integrally formed with the column body. The column 100 adopts an integrated design and is directly formed by die-casting or injection molding, which improves the overall strength and meets the high-strength requirements of large production capacity for the manipulator. Moreover, the integrated design can reduce the manual assembly time, reduce the production and manufacturing time of the manipulator, reduce the labor cost, and is conducive to cost reduction and efficiency improvement.

[0065] In the description of the embodiments of the present utility model, unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0066] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0067] Based on the above inspiration from the ideal embodiments of the present utility model, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this utility model. The technical scope of this utility model is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An integrated manipulator device, characterized in that: include: Column, cross arm and driving mechanism; The cross arm is slidably arranged on the column; The driving mechanism is fixedly arranged on the column and is suitable for driving the cross arm to slide on the column; The column includes a column body and reinforcing ribs; The reinforcing rib is integrally formed with the column body; The column also includes a suspension plate; The suspension plate is integrally formed with the column body.

2. The integrated robot device according to claim 1, characterized in that: The reinforcing ribs are arranged along the height direction of the column body.

3. The integrated robot device according to claim 2, characterized in that: The number of the reinforcing ribs is two; The two reinforcing ribs are arranged opposite to each other; The driving mechanism is arranged between the two reinforcing ribs.

4. The integrated robot device according to claim 1, characterized in that: The number of the suspension plates is two; The two hanging plates are arranged opposite to each other and along the side wall of the column; A hanging station is provided between the two hanging plates; The upright column is suspended on the side of the external tank body through the suspension station.

5. The integrated robot device according to claim 1, characterized in that: The cross arm comprises an arm body, an upper plate and a rear plate; The upper plate and the rear plate are fixedly arranged on the top and the rear side wall of the arm body respectively; The arm body is integrally formed.

6. The integrated robot device according to claim 5, characterized in that: The top surface of the arm body is rectangular.

7. The integrated robot device according to claim 5, characterized in that: The top surface of the arm body is in a trapezoidal shape.

8. The integrated robot device according to claim 5, characterized in that: A plurality of hanging basket plates are arranged at intervals at the bottom of the arm body.

9. The integrated robot device according to claim 1, characterized in that: The driving mechanism includes a driving motor, a screw rod and a lifting block; The lifting block is fixedly connected to the cross arm; The driving motor and the screw rod are both arranged on the column; The screw rod passes through the lifting block, and when the screw rod rotates, it is suitable for driving the lifting block to move up and down; The driving motor is suitable for driving the screw to rotate.

10. A robot system, characterized in that: include: The integrated manipulator device according to any one of claims 1 to 9; The control module is electrically connected to the integrated robot device and sends corresponding execution instructions to the integrated robot device.

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